OpenRaiser/Intern-Atlas huggingface dataset:
Balancing Progress and Safety: A Novel Risk-Aware Objective for RL in Autonomous Driving
Venue: arXiv cs.RO 2026
Year: 2026

Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that combines the driving objectives. The design of such reward function has received insufficient attention, yielding ill-defined rewards with various pitfalls. Safety, in particular, has long been regarded only as a penalty for collisions. This leaves the risks associated with actions leading up to a collision unaddressed, limiting the applicability of RL in real-world scenarios. To address these shortcomings, our work focuses on enhancing the reward formulation by defining a set of driving objectives and structuring them hierarchically. Furthermore, we discuss the formulation of these objectives in a normalized manner to transparently determine their contribution to the overall reward. Additionally, we introduce a novel risk-aware objective for various driving interactions based on a two-dimensional ellipsoid function and an extension of Responsibility-Sensitive Safety (RSS) concepts. We evaluate the efficacy of our proposed reward in unsignalized intersection scenarios with varying traffic densities. The approach decreases collision rates by 21\% on average compared to baseline rewards and consistently surpasses them in route progress and cumulative reward, demonstrating its capability to promote safer driving behaviors while maintaining high-performance levels.
TPK: Trustworthy Trajectory Prediction Integrating Prior Knowledge For Interpretability and Kinematic Feasibility
Venue: arXiv cs.RO 2026
Year: 2026

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can be physically infeasible and illogical to humans. To make predictions more trustworthy, recent research has incorporated prior knowledge, like the social force model for modeling interactions and kinematic models for physical realism. However, these approaches focus on priors that suit either vehicles or pedestrians and do not generalize to traffic with mixed agent classes. We propose incorporating interaction and kinematic priors of all agent classes--vehicles, pedestrians, and cyclists with class-specific interaction layers to capture agent behavioral differences. To improve the interpretability of the agent interactions, we introduce DG-SFM, a rule-based interaction importance score that guides the interaction layer. To ensure physically feasible predictions, we proposed suitable kinematic models for all agent classes with a novel pedestrian kinematic model. We benchmark our approach on the Argoverse 2 dataset, using the state-of-the-art transformer HPTR as our baseline. Experiments demonstrate that our method improves interaction interpretability, revealing a correlation between incorrect predictions and divergence from our interaction prior. Even though incorporating the kinematic models causes a slight decrease in accuracy, they eliminate infeasible trajectories found in the dataset and the baseline model. Thus, our approach fosters trust in trajectory prediction as its interaction reasoning is interpretable, and its predictions adhere to physics.
Benchmarking AI scientists for omics data driven biological discovery
Venue: arXiv cs.AI 2026
Year: 2026

Recent advances in large language models have enabled the emergence of AI scientists that aim to autonomously analyze biological data and assist scientific discovery. Despite rapid progress, it remains unclear to what extent these systems can extract meaningful biological insights from real experimental data. Existing benchmarks either evaluate reasoning in the absence of data or focus on predefined analytical outputs, failing to reflect realistic, data-driven biological research. Here, we introduce BAISBench (Biological AI Scientist Benchmark), a benchmark for evaluating AI scientists on real single-cell transcriptomic datasets. BAISBench comprises two tasks: cell type annotation across 15 expert-labeled datasets, and scientific discovery through 193 multiple-choice questions derived from biological conclusions reported in 41 published single-cell studies. We evaluated several representative AI scientists using BAISBench and, to provide a human performance baseline, invited six graduate-level bioinformaticians to collectively complete the same tasks. The results show that while current AI scientists fall short of fully autonomous biological discovery, they already demonstrate substantial potential in supporting data-driven biological research. These results position BAISBench as a practical benchmark for characterizing the current capabilities and limitations of AI scientists in biological research. We expect BAISBench to serve as a practical evaluation framework for guiding the development of more capable AI scientists and for helping biologists identify AI systems that can effectively support real-world research workflows. The BAISBench can be found at: https://github.com/EperLuo/BAISBench, https://huggingface.co/datasets/EperLuo/BaisBench.
ORACLE-Grasp: Zero-Shot Affordance-Aligned Robotic Grasping using Large Multimodal Models
Venue: arXiv cs.RO 2026
Year: 2026

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both semantic understanding and spatial reasoning. Traditional methods often rely on dense training datasets or detailed geometric modeling, which demand extensive data collection and do not generalize well to novel objects or affordances. We present ORACLE-Grasp, a zero-shot framework that leverages Large Multimodal Models (LMMs) as semantic oracles to guide affordance-aligned grasp selection, without requiring task-specific training or manual input. The system reformulates grasp prediction as a structured, iterative decision process, using a dual-prompt tool-calling strategy: the first prompt extracts high-level object semantics, while the second identifies graspable regions aligned with the object's function. To address the spatial limitations of LMMs, ORACLE-Grasp discretizes the image into candidate regions and reasons over them to produce human-like and context-sensitive grasp suggestions. A depth-based refinement step improves grasp reliability when available, and an early stopping mechanism enhances computational efficiency. We evaluate ORACLE-Grasp on a diverse set of RGB and RGB-D images featuring both everyday and AI-generated objects. The results show that our method produces physically feasible and semantically appropriate grasps that align closely with human annotations, achieving high success rates in real-world pick-up tasks. Our findings highlight the potential of LMMs for enabling flexible and generalizable grasping strategies in autonomous service robots, eliminating the need for object-specific models or extensive training.
Onboard Optimization and Learning: A Survey
Venue: arXiv cs.LG 2026
Year: 2026

Onboard learning is a transformative approach in edge AI, enabling real-time data processing, decision-making, and adaptive model training directly on resource-constrained devices without relying on centralized servers. This paradigm is crucial for applications demanding low latency, enhanced privacy, and energy efficiency. However, onboard learning faces challenges such as limited computational resources, high inference costs, and security vulnerabilities. This survey explores a comprehensive range of methodologies that address these challenges, focusing on techniques that optimize model efficiency, accelerate inference, and support collaborative learning across distributed devices. Approaches for reducing model complexity, improving inference speed, and ensuring privacy-preserving computation are examined alongside emerging strategies that enhance scalability and adaptability in dynamic environments. By bridging advancements in hardware-software co-design, model compression, and decentralized learning, this survey provides insights into the current state of onboard learning to enable robust, efficient, and secure AI deployment at the edge.
Grounding Synthetic Data Evaluations of Language Models in Unsupervised Document Corpora
Venue: arXiv cs.AI 2026
Year: 2026

Language Models (LMs) continue to advance, improving response quality and coherence. Given Internet-scale training datasets, LMs have likely encountered much of what users may ask them to generate in some form during their training. A plethora of evaluation benchmarks have been constructed to assess model quality, response appropriateness, and reasoning capabilities. However, the human effort required for benchmark construction is rapidly being outpaced by the size and scope of the models under evaluation. Having humans build a benchmark for every possible domain of interest is impractical. Therefore, we propose a methodology for automating the construction of fact-based synthetic data model evaluations grounded in document populations. This work leverages the same LMs to evaluate domain-specific knowledge automatically, using only grounding documents (e.g., a textbook) as input. This generative benchmarking approach corresponds well with human curated questions producing an ensemble Spearman ranking correlation of $0.91$ and a benchmark evaluation Pearson accuracy correlation of $0.74$ (model specific $0.82$). This novel approach supports generating both multiple choice and open-ended synthetic data questions to gain diagnostic insight of LM capability. We apply this methodology to evaluate model performance on three recent documents (two post LM knowledge cutoff), discovering a surprisingly strong performance from Gemma-3 models on open-ended questions. Code is available at https://github.com/mmajurski/grounded-synth-lm-benchmark
From RDF Graph Validation to RDF Dataset Validation with SHACL-DS
Venue: arXiv cs.DB 2026
Year: 2026

The Shapes Constraint Language (SHACL) is the W3C Recommendation for validating a single RDF graph. This makes SHACL inadequate for validating data across (named) graphs in an RDF dataset. Existing workarounds, such as graph unions or bespoke preprocessing, either collapse the RDF dataset structure or compromise the declarative nature of SHACL validation. In the former, we lose track of where triples come from; in the latter, knowledge is hidden in the code, and the constraints are not self-contained nor fully declarative. We present SHACL-DS to address this problem. SHACL-DS proposes a vocabulary and an algorithm on top of SHACL for RDF dataset validation. SHACL-DS introduces the concepts of Shapes Datasets, Target Graph Declarations, and Target Graph Combinations, enabling declarative constraints to operate across multiple graphs in an RDF dataset. SHACL-DS also defines the behaviour of SPARQL-based constraints for validating RDF datasets. In this paper, we formalize SHACL-DS and provide a prototype implementation.
Autofocus Retrieval: An Effective Pipeline for Multi-Hop Question Answering With Semi-Structured Knowledge
Venue: arXiv cs.IR 2026
Year: 2026

In many real-world settings, machine learning models and interactive systems have access to both structured knowledge, e.g., knowledge graphs or tables, and unstructured content, e.g., natural language documents. Yet, most rely on either. Semi-Structured Knowledge Bases (SKBs) bridge this gap by linking unstructured content to nodes within structured data. In this work, we present Autofocus-Retriever (AF-Retriever), a modular framework for SKB-based, multi-hop question answering. It combines structural and textual retrieval through novel integration steps and optimizations, achieving the best zero- and one-shot results across all three STaRK QA benchmarks, which span diverse domains and evaluation metrics. AF-Retriever's average first-hit rate surpasses the second-best method by 32.1%. Its performance is driven by (1) leveraging exchangeable large language models (LLMs) to extract entity attributes and relational constraints for both parsing and reranking the top-k answers, (2) vector similarity search for ranking both extracted entities and final answers, (3) a novel incremental scope expansion procedure that prepares for the reranking on a configurable amount of suitable candidates that fulfill the given constraints the most, and (4) a hybrid retrieval strategy that reduces error susceptibility. In summary, while constantly adjusting the focus like an optical autofocus, AF-Retriever delivers a configurable amount of answer candidates in four constraint-driven retrieval steps, which are then supplemented and ranked through four additional processing steps. An ablation study and a detailed error analysis, including a comparison of three different LLM reranking strategies, provide component-level insights. The source code is available at https://github.com/kramerlab/AF-Retriever.
Embodied intelligent industrial robotics: Framework and techniques
Venue: arXiv cs.RO 2026
Year: 2026

The combination of embodied intelligence and robots has great prospects and is becoming increasingly common. In order to work more efficiently, accurately, reliably, and safely in industrial scenarios, robots should have at least general knowledge, working-environment knowledge, and operating-object knowledge. These pose significant challenges to existing embodied intelligent robotics (EIR) techniques. Thus, this paper first briefly reviews the history of industrial robotics and analyzes the limitations of mainstream EIR frameworks. Then, a new knowledge-driven technical framework of embodied intelligent industrial robotics (EIIR) is proposed for various industrial environments. It has five modules: a world model, a high-level task planner, a low-level skill controller, a simulator, and a physical system. The development of techniques related to each module are also thoroughly reviewed, and recent progress regarding their adaption to industrial applications are discussed. A case study of real-world assembly system is given to demonstrate the newly proposed EIIR framework's applicability and potentiality. Finally, the key challenges that EIIR encounters in industrial scenarios are summarized and future research directions are suggested. The authors believe that EIIR technology is shaping the next generation of industrial robotics and EIIR-based industrial systems supply a new technological paradigm for intelligent manufacturing. It is expected that this review could serve as a valuable reference for scholars and engineers that are interested in industrial embodied intelligence. Together, scholars can use this research to drive their rapid advancement and application of EIIR techniques. The authors would continue to track and contribute new studies in the project page https://github.com/jackyzengl/EIIR
Tales of the 2025 Los Angeles Fire: Hotwash for Public Health Concerns in Reddit via LLM-Enhanced Topic Modeling
Venue: arXiv cs.SI 2026
Year: 2026

Wildfires have become increasingly frequent, irregular, and severe in recent years. Understanding how affected populations perceive and respond during wildfire crises is critical for timely and empathetic disaster response. Social media platforms offer a crowd-sourced channel to capture evolving public discourse, providing hyperlocal information and insight into public sentiment. This study analyzes Reddit discourse during the 2025 Los Angeles wildfires, spanning from the onset of the disaster to full containment. We collect 385 posts and 114,879 comments related to the Palisades and Eaton fires. We adopt topic modeling methods to identify the latent topics, enhanced by large language models (LLMs) and human-in-the-loop (HITL) refinement. Furthermore, we develop a hierarchical framework to categorize latent topics, consisting of two main categories, Situational Awareness (SA) and Crisis Narratives (CN). The volume of SA category closely aligns with real-world fire progressions, peaking within the first 2-5 days as the fires reach the maximum extent. The most frequent co-occurring category set of public health and safety, loss and damage, and emergency resources expands on a wide range of health-related latent topics, including environmental health, occupational health, and one health. Grief signals and mental health risks consistently accounted for 60 percentage and 40 percentage of CN instances, respectively, with the highest total volume occurring at night. This study contributes the first annotated social media dataset on the 2025 LA fires, and introduces a scalable multi-layer framework that leverages topic modeling for crisis discourse analysis. By identifying persistent public health concerns, our results can inform more empathetic and adaptive strategies for disaster response, public health communication, and future research in comparable climate-related disaster events.
Tuning-Free LLM Can Build A Strong Recommender Under Sparse Connectivity And Knowledge Gap Via Extracting Intent
Venue: arXiv cs.IR 2026
Year: 2026

Recent advances in recommendation with large language models (LLMs) often rely on either commonsense augmentation at the item-category level or implicit intent modeling on existing knowledge graphs. However, such approaches struggle to capture grounded user intents and to handle sparsity and cold-start scenarios. In this work, we present LLM-based Intent Knowledge Graph Recommender (IKGR), a novel framework that constructs an intent-centric knowledge graph where both users and items are explicitly linked to intent nodes extracted by a tuning-free, RAG-guided LLM pipeline. By grounding intents in external knowledge sources and user profiles, IKGR canonically represents what a user seeks and what an item satisfies as first-class entities. To alleviate sparsity, we further introduce a mutual-intent connectivity densification strategy, which shortens semantic paths between users and long-tail items without requiring cross-graph fusion. Finally, a lightweight GNN layer is employed on top of the intent-enhanced graph to produce recommendation signals with low latency. Extensive experiments on public and enterprise datasets demonstrate that IKGR consistently outperforms strong baselines, particularly on cold-start and long-tail slices, while remaining efficient through a fully offline LLM pipeline.
ForensicHub: A Unified Benchmark & Codebase for All-Domain Fake Image Detection and Localization
Venue: arXiv cs.CV 2026
Year: 2026

The field of Fake Image Detection and Localization (FIDL) is highly fragmented, encompassing four domains: deepfake detection (Deepfake), image manipulation detection and localization (IMDL), artificial intelligence-generated image detection (AIGC), and document image manipulation localization (Doc). Although individual benchmarks exist in some domains, a unified benchmark for all domains in FIDL remains blank. The absence of a unified benchmark results in significant domain silos, where each domain independently constructs its datasets, models, and evaluation protocols without interoperability, preventing cross-domain comparisons and hindering the development of the entire FIDL field. To close the domain silo barrier, we propose ForensicHub, the first unified benchmark & codebase for all-domain fake image detection and localization. Considering drastic variations on dataset, model, and evaluation configurations across all domains, as well as the scarcity of open-sourced baseline models and the lack of individual benchmarks in some domains, ForensicHub: i) proposes a modular and configuration-driven architecture that decomposes forensic pipelines into interchangeable components across datasets, transforms, models, and evaluators, allowing flexible composition across all domains; ii) fully implements 10 baseline models, 6 backbones, 2 new benchmarks for AIGC and Doc, and integrates 2 existing benchmarks of DeepfakeBench and IMDLBenCo through an adapter-based design; iii) conducts indepth analysis based on the ForensicHub, offering 8 key actionable insights into FIDL model architecture, dataset characteristics, and evaluation standards. ForensicHub represents a significant leap forward in breaking the domain silos in the FIDL field and inspiring future breakthroughs.
Efficient Orthogonal Fine-Tuning with Principal Subspace Adaptation
Venue: arXiv cs.LG 2026
Year: 2026

Driven by the rapid growth of model parameters, parameter-efficient fine-tuning (PEFT) has become essential for adapting large models to diverse downstream tasks under constrained computational resources. Within this paradigm, orthogonal fine-tuning and its variants preserve semantic representations of pre-trained models, but struggle to achieve both expressiveness and efficiency in terms of parameter counts, memory, and computation. To overcome this limitation, we propose efficient Orthogonal Fine-Tuning with Principal Subspace adaptation (PSOFT), which confines orthogonal transformations to the principal subspace of pre-trained weights. Specifically, PSOFT constructs this subspace via matrix decomposition to enable compatible transformations with higher effective rank, establishes a theoretical condition that strictly maintains the geometry of this subspace for essential semantic preservation, and introduces efficient tunable vectors that gradually relax orthogonality during training to enhance adaptability. Extensive experiments on 35 NLP and CV tasks across four representative models demonstrate that PSOFT offers a practical and scalable solution to simultaneously achieve semantic preservation, expressiveness, and multi-dimensional efficiency in PEFT. The code is publicly available at https://github.com/fei407/PSOFT.
Visual Planning: Let's Think Only with Images
Venue: arXiv cs.LG 2026
Year: 2026

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both expressing and structuring reasoning, even when visual information is present. In this work, we argue that language may not always be the most natural or effective modality for reasoning, particularly in tasks involving spatial and geometrical information. Motivated by this, we propose a new paradigm, Visual Planning, which enables planning through purely visual representations for these "vision-first" tasks, as a supplementary channel to language-based reasoning. In this paradigm, planning is executed via sequences of images that encode step-by-step inference in the visual domain, akin to how humans sketch or visualize future actions. We introduce a novel reinforcement learning framework, Visual Planning via Reinforcement Learning (VPRL), empowered by GRPO for post-training large vision models, leading to substantial improvements in planning in a selection of representative visual navigation tasks, FrozenLake, Maze, and MiniBehavior. Our visual planning paradigm outperforms all other planning variants that conduct reasoning in the text-only space. Our results establish Visual Planning as a viable and promising supplement to language-based reasoning, opening new avenues for tasks that benefit from intuitive, image-based inference.